Connecting Signals Installation and Commissioning
54 Product Manual IRB 6400R
3.11 External safety relay
The Motor On/Off mode in the controller can operate with external equipment if external
relays are used. Two examples are shown below.
Figure 43 Diagram for using external safety relays.
K2
K1
X1:6
X1:5
X3:1
X3:2
X4:1
X4:2
X2:5
X2:6
0 V
CONT1
Ext MON 1
Ext MON 2
24 V
CONT2
24 V
0 V
Panel unit
Relays with positive action
Safety relay
To other
equipment
ES out
AS GS
AS GS
ES out
External
supply
External
supply
Robot 1 Robot 2
Safety gate
Cell ES
(only one channel displayed)